CN106249275A - Earthquake-capturing automatic routing system and method - Google Patents
Earthquake-capturing automatic routing system and method Download PDFInfo
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- CN106249275A CN106249275A CN201510303631.5A CN201510303631A CN106249275A CN 106249275 A CN106249275 A CN 106249275A CN 201510303631 A CN201510303631 A CN 201510303631A CN 106249275 A CN106249275 A CN 106249275A
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Abstract
Disclose a kind of earthquake-capturing automatic routing system and method.This system may include that multiple wireless positioning unit, and the coordinate position of multiple wireless positioning unit is as the reference coordinate location of pickup area, and the external contact zone of the coordinate position of multiple wireless positioning unit surrounds pickup area；Main control unit, it sets up pickup area, and running route based on pickup area design self routing unit based on reference coordinate location；And self routing unit, it carries out self routing based on running route, and wherein, main control unit is configured to the coordinate position of the barrier in the coordinate position according to self routing unit and pickup area, guides self routing unit to get around barrier.
Description
Technical field
The present invention relates to seismic prospecting and development field, more particularly, to a kind of automatic cloth of earthquake-capturing
Line system and method.
Background technology
To mineral products, oil gas, shale oil gas and the seismic prospecting of coal bed gas and development field, by land
In shake collection project, generally utilization manually gathers wiring.Current land seismic acquisition project, especially exists
Become in the high accuracy big number of channels observation system arrangement and method for construction of bin, need to organize large-scale construction team (on
Thousand people), wherein most is the personnel that temporarily call up, for the organization and administration of workmen, training on operation,
Living guarantee is the most loaded down with trivial details and difficult, and along with improving constantly of the costs such as human resources, land seismic is adopted
The capital cost of collection project rises year by year.
Inventor finds, owing to experienced chore boy is less, pre-job training is not enough, causes
Artificial collection in construction does not often reach detail design requirement so that the seismic data quality collected is the highest,
Affect process and the explanation work in later stage.Therefore, develop a kind of can the earthquake-capturing of precise positioning automatic
Wiring system and method are necessary.
The information being disclosed in background of invention part is merely intended to deepen the general background skill to the present invention
The understanding of art, and be not construed as recognizing or imply in any form that this information structure is for this area skill
Prior art well known to art personnel.
Summary of the invention
The invention provides a kind of earthquake-capturing automatic wiring method and system, it can precise positioning collection
Region, design and construction route self routing are to complete to gather wiring.
According to an aspect of the invention, it is proposed that a kind of earthquake-capturing automatic routing system, described system can
To include: multiple wireless positioning unit, the coordinate position of multiple wireless positioning unit is as pickup area
Reference coordinate location, and the external contact zone encirclement acquisition zone of the coordinate position of multiple wireless positioning unit
Territory；Main control unit, it is set up pickup area based on reference coordinate location, and designs based on pickup area
The running route of self routing unit；And self routing unit, it carries out automatic cloth based on running route
Line, wherein, main control unit is configured in the coordinate position according to self routing unit and pickup area
The coordinate position of barrier, guides self routing unit to get around barrier.
According to another aspect of the invention, it is proposed that a kind of earthquake-capturing automatic wiring method, described method
May comprise steps of: receive the coordinate position benchmark as pickup area of multiple wireless positioning unit
Coordinate position, and the external contact zone encirclement pickup area of the coordinate position of multiple wireless positioning unit；
Pickup area, and fortune based on pickup area design self routing unit is set up based on reference coordinate location
Walking along the street line；Control self routing unit based on running route and carry out self routing；And according to self routing
The coordinate position of the barrier in the coordinate position of unit and pickup area, guides described self routing unit
Get around barrier.
Methods and apparatus of the present invention has other characteristic and advantage, these characteristics and advantage from being incorporated to this
Accompanying drawing in literary composition and specific embodiments subsequently will be apparent from, or will be incorporated herein
Accompanying drawing and specific embodiments subsequently in state in detail, these accompanying drawings and specific embodiments are altogether
With the certain principles for explaining the present invention.
Accompanying drawing explanation
By combining accompanying drawing, the exemplary of the present invention is described in more detail, the present invention's
Above-mentioned and other purpose, feature and advantage will be apparent from, wherein, and exemplary in the present invention
In embodiment, identical reference number typically represents same parts.
Fig. 1 shows earthquake-capturing automatic routing system in accordance with an exemplary embodiment of the invention
Schematic diagram.
The self routing unit that Fig. 2 shows according to embodiment of the present invention is evaded when self routing
The schematic diagram of barrier.
Fig. 3 shows self routing unit in accordance with an exemplary embodiment of the invention at self routing
Time avoiding barrier logic chart.
Fig. 4 shows earthquake-capturing automatic wiring method in accordance with an exemplary embodiment of the invention
The block diagram of step.
Detailed description of the invention
It is more fully described the preferred embodiments of the invention below with reference to accompanying drawings.Although accompanying drawing shows
The preferred embodiments of the invention, however, it is to be appreciated that may be realized in various forms the present invention and not
Should be limited by embodiments set forth herein.On the contrary, it is provided that these embodiments are to make the present invention
More thorough and complete, and those skilled in the art can be will fully convey the scope of the invention to.
Embodiment 1
Fig. 1 shows earthquake-capturing automatic routing system in accordance with an exemplary embodiment of the invention
Schematic diagram.
In this embodiment, may include that multiple according to the earthquake-capturing automatic routing system of the present invention
Wireless positioning unit 101, the coordinate position of multiple wireless positioning unit 101 is as the benchmark of pickup area
Coordinate position, and the external contact zone encirclement acquisition zone of the coordinate position of multiple wireless positioning unit 101
Territory 104；Main control unit 103, it sets up pickup area 104 based on reference coordinate location, and based on adopting
The running route of self routing unit 102 is designed in collection region 104；And self routing unit 102, its
Carrying out self routing based on running route, wherein, main control unit 103 is configured to according to self routing list
The coordinate position of the barrier in the coordinate position of unit 102 and pickup area, guides self routing unit 102
Get around barrier..
This embodiment is by wireless positioning unit 101, main control unit 103 and self routing unit 102
Come positioning acquisition region, design and construction route self routing to complete to gather wiring, it is achieved that precisely fixed
The earthquake-capturing self routing of position.
Wireless positioning unit
In one example, can be using the coordinate position of multiple wireless positioning unit 101 as pickup area
Reference coordinate location.The coordinate to the plurality of wireless positioning unit can be realized by satellite positioning tech
The location of position.In one example, wireless positioning unit 101 can be configured to position self coordinate
Position, and self coordinate position can be sent to main control unit 103 as reference coordinate location.Such as,
Wireless positioning unit 101 can include localizer and control processing module.Wherein, localizer can be to defend
Star time service instrument, such as GPS time service instrument or Big Dipper time service instrument etc..Localizer can pass through satellite by existing
Location technology (such as GPS location technology etc.) realizes the coordinate bit to the plurality of wireless positioning unit 1
The location put.Control processing module and can control input and the output of localizer, thus obtain changing coordinates
Position, it is possible to present co-ordinate position etc. is sent to main control unit 103.But those skilled in the art
Should be understood that the structure of wireless positioning unit is not limited to this, wireless positioning unit 101 also may not include certainly
Body carries out the localizer positioned, but is positioned by satellite positioning tech based on Image Acquisition.
In one example, can be with the external contact zone of the coordinate position of multiple wireless positioning unit 101
Surround pickup area 104.
In one example, one or more wireless positioning unit 101 can be increased in pickup area 104
Carry out enhancing signal.
Main control unit
In one example, main control unit 103 can be sat by benchmark based on multiple wireless positioning unit 101
Cursor position sets up pickup area 104, and designs self routing unit 102 based on pickup area 104
Running route.
In one example, designing the running route of self routing unit 102 based on pickup area 104 can
Realized by prior art means well known by persons skilled in the art.Such as, main control unit 103 is permissible
Having equipment to control and data processing server and data transmission module, equipment controls and data processing service
Device can control the acquisition software of a whole set of collecting device, and data transmission module can be with wireless positioning unit
101 and self routing unit 102 carry out data exchange, so that main control unit 103 can be based on multiple
The coordinate position of wireless positioning unit 101 sets up pickup area 104, can set based on pickup area 104
The running route of meter self routing unit 102, it is possible to check the connection status of each equipment.Wherein,
Data transmission between main control unit 103 and wireless positioning unit 101 and self routing unit 102 is permissible
Use TD-LTE data transmission, it is possible to use based on TCP IP agreement LAN data transmission.
It is to be understood that, the data transfer mode of the present invention is not limited thereto, but can use this area skill
Any data transfer mode known to art personnel.
In one example, main control unit 103 can load completed detail design, and executes described
The running route of self routing unit 102 is designed on the basis of work design.The loading of detail design and operation
The design of route can utilize means well known by persons skilled in the art to realize.Wherein, main control unit 103
The barrier 105 can being configured in the coordinate position according to self routing unit 102 and pickup area
Coordinate position, guide self routing unit 102 get around barrier 105.In actual running route,
Many barriers can be there is, such as house, pond etc..These places both cannot connect up, and also cannot allow certainly
Dynamic routing cell 102 passes through.Therefore, it can the coordinate position according to self routing unit 102 and collection
The coordinate position of the barrier in region, design and operation route is to guide the self routing unit 102 can be
Avoiding barrier during self routing.
The self routing unit that Fig. 2 shows according to embodiment of the present invention is evaded when self routing
The schematic diagram of barrier, and Fig. 3 shows automatic cloth in accordance with an exemplary embodiment of the invention
Line unit is the logic chart of avoiding barrier when self routing.
In one example, main control unit 103 can be configured to: builds the pickup area set up
Virtual rectangular mesh；Barrier profile is configured to surround the regular contour of barrier 105, by rule
The grid node that profile is covered is labeled as barrier node；And advancing at self routing unit 102
In when running into barrier node, guide self routing unit 102 to get around described barrier node.Wherein may be used
With utilize set up pickup area 104 build a virtual rectangular mesh, the longitudinal and transverse interval of grid it
One can be the linear distance in earthquake-capturing, another can be track pitch from.Can be by barrier 105
Profile is configured to surround the regular contour of barrier, the grid node labelling covered by described regular contour
For barrier node.Such as, for single erose barrier, one can be built and just wrap
Enclose the regular contour of this barrier；Multiple Edge Distances are less than to the barrier of predetermined quantity grid node,
Can merge one regular contour of structure etc., wherein regular contour can be defined to the shapes such as rectangular or square when
Shape.
With reference to Fig. 3, in one example, self routing unit 102 is guided to evade barrier when self routing
Hinder thing node may include steps of: step 301, determine the X-axis at self routing unit 102 place
Initial coordinate (x (mark)) and Y-axis initial coordinate (y (mark)), and make self routing unit
102 move (x (n)=x (n-1)) along X-axis direction of advance, and wherein, X-axis is perpendicular to Y-axis, x
N () is the current X-axis coordinate of self routing unit 102, and n > 0；Step 302, works as X-axis
When next node in direction of advance is barrier node, self routing unit 102 is made to change into along Y-axis
One direction is moved (y (n)=y (n+1)), and wherein, y (n) is the current of self routing unit 102
Y-axis coordinate, and n > 0, until the next node in the X-axis direction of advance of self routing unit 102
It not barrier node, then make self routing unit 102 change into along X-axis direction of advance to move (x (n)
=x (n-1))；Step 303, after self routing unit 102 changes into moving along X-axis direction of advance,
When the next node in the Y-axis second direction of self routing unit 102 is not barrier node, make certainly
Dynamic routing cell 102 changes into moving (y (n)=y (n-1)) along Y-axis second direction, until automatic cloth
The Y-axis coordinate of line unit 102 returns to described Y-axis initial coordinate (y (mark))；Step 304,
After the Y-axis coordinate of self routing unit 102 returns to described Y-axis initial coordinate, make self routing unit
102 change into moving (x (n)=x (n-1)) along X-axis direction of advance.As set forth above, it is possible to guide certainly
Dynamic routing cell 102 avoiding barrier node when self routing.
Self routing unit
In one example, self routing unit 102 carries out self routing based on running route and can pass through this
Prior art means known to the skilled person realize.Such as, self routing unit 102 can lead to
Cross wheeled bogie or heavy burden bio-robot etc. and carry power station, cross-station, acquisition station and cymoscope etc.
Earthquake-capturing equipment, based on the running route obtained from main control unit 103 and coordinate position and real-time time
Between information, self routing unit 102 control wheeled bogie or heavy burden bio-robot by running route from
Dynamic traveling, and automatically place earthquake-capturing equipment at anchor point.
In one example, when the collecting device that automatic wiring machine is loaded is finished or fuel consumption is complete,
Can automatically arrive appointed place (such as supply center 106) to feed.
It will be understood by those skilled in the art that the purpose of description to embodiment of the present invention above only for
The beneficial effect of embodiment of the present invention is exemplarily described, is not intended to embodiment of the present invention
It is limited to given any example.
Embodiment 2
Fig. 4 shows earthquake-capturing automatic wiring method in accordance with an exemplary embodiment of the invention
The block diagram of step.
In this embodiment, following step can be included according to the earthquake-capturing automatic wiring method of the present invention
Rapid: step 401, receive the coordinate position reference coordinate as pickup area of multiple wireless positioning unit
Position, and the external contact zone encirclement pickup area of the coordinate position of multiple wireless positioning unit；Step
402, set up pickup area based on reference coordinate location, and design self routing unit based on pickup area
Running route；Step 403 controls self routing unit based on running route and carries out self routing；And
Step 404, according to the coordinate position of the barrier in the coordinate position of self routing unit and pickup area,
Described self routing unit is guided to get around barrier.
This embodiment is positioned by wireless positioning unit, sets up pickup area, and design and construction route is the most certainly
Dynamic wiring is to complete to gather wiring, it is achieved that the earthquake-capturing self routing of precise positioning.
In one example, may further include according to the earthquake-capturing automatic wiring method of the present invention:
The pickup area set up is built virtual rectangular mesh；It is configured to barrier profile surround barrier
Regular contour, the grid node covered by regular contour is labeled as barrier node；And automatically
When routing cell runs into barrier node in traveling, self routing unit is guided to get around described barrier joint
Point.
In one example, guide described self routing unit to get around barrier node to may include that and determine
The X-axis initial coordinate at described self routing unit place and Y-axis initial coordinate, and make described self routing
Unit moves along X-axis direction of advance, and wherein X-axis is perpendicular to Y-axis；When in described X-axis direction of advance
Next node when being barrier node, make described self routing unit change into along Y-axis first direction and move,
Until the next node in the described X-axis direction of advance of described self routing unit is not barrier node,
Make described self routing unit change into along X-axis direction of advance again to move；Change at described self routing unit
Next node after moving along X-axis direction of advance, in the Y-axis second direction of described self routing unit
When not being barrier node, make described self routing unit change into along Y-axis second direction and move, until institute
The Y-axis coordinate stating self routing unit returns to described Y-axis initial coordinate；At described self routing unit
After Y-axis coordinate returns to described Y-axis initial coordinate, described self routing unit is made to change into along X-axis advance side
To movement.
In one example, the coordinate to multiple wireless positioning unit can be realized by satellite positioning tech
The location of position.
In one example, one or more wireless positioning unit can be increased in pickup area to strengthen
Signal.
It will be understood by those skilled in the art that the purpose of description to embodiment of the present invention above only for
The beneficial effect of embodiment of the present invention is exemplarily described, is not intended to embodiment of the present invention
It is limited to given any example.
The present invention can be system, method and/or computer program.Computer program can wrap
Include computer-readable recording medium, containing by making processor realize based on various aspects of the invention
Calculation machine readable program instructions.
Computer-readable recording medium can be to keep and to store the instruction used by instruction execution equipment
Tangible device.Computer-readable recording medium such as may be-but not limited to-storage device electric,
Magnetic storage apparatus, light storage device, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any
Suitably combination.The more specifically example (non exhaustive list) of computer-readable recording medium includes:
Portable computer diskette, hard disk, random access memory (RAM), read only memory (ROM),
Erasable type programmable read only memory (EPROM or flash memory), static RAM (SRAM),
Portable compressed dish read only memory (CD-ROM), digital versatile disc (DVD), memory stick, soft
Dish, mechanical coding equipment, such as on it storage have the punch card of instruction or groove internal projection structure and
The combination of above-mentioned any appropriate.Computer-readable recording medium used herein above is not construed as instantaneous
Signal itself, the electromagnetic wave of such as radio wave or other Free propagations, by waveguide or other transmission
Vector-borne electromagnetic wave (such as, by the light pulse of fiber optic cables) or by the electricity of wire transfer
Signal.
Computer-readable program instructions as described herein can download to respectively from computer-readable recording medium
Individual calculating/processing equipment, or by network, such as the Internet, LAN, wide area network and/or wireless network
Download to outer computer or External memory equipment.Network can include copper transmission cable, fiber-optic transfer,
Be wirelessly transferred, router, fire wall, switch, gateway computer and/or Edge Server.Each meter
Adapter or network interface in calculation/processing equipment receive computer-readable program instructions from network,
And forward this computer-readable program instructions, can for the computer being stored in each calculating/processing equipment
Read in storage medium.
Can be assembly instruction, instruction set architecture for performing the computer program instructions of present invention operation
(ISA) instruction, machine instruction, machine-dependent instructions, microcode, firmware instructions, state arrange number
According to or the source code write with the combination in any of one or more programming languages or object code, described
Programming language includes OO programming language such as Smalltalk, C++ etc., and the mistake of routine
Formula programming language such as " C " language or similar programming language.Computer-readable program instructions is permissible
Perform the most on the user computer, perform the most on the user computer, independent as one
Software kit performs, part part on the user computer performs or on the remote computer completely far
Perform on journey computer or server.In the situation relating to remote computer, remote computer can lead to
The network crossing any kind includes that LAN (LAN) or wide area network (WAN) are connected to user's meter
Calculation machine, or, it may be connected to outer computer (such as utilize ISP come by because of
Special net connects).In certain embodiments, the status information by utilizing computer-readable program instructions is come individual
Propertyization customization electronic circuit, such as Programmable Logic Device, field programmable gate array (FPGA) or
Programmable logic array (PLA), this electronic circuit can perform computer-readable program instructions, thus real
Existing various aspects of the invention.
Referring herein to method according to embodiments of the present invention, device (system) and computer program
Flow chart and/or block diagram describe various aspects of the invention.Should be appreciated that the every of flow chart and/or block diagram
The combination of each square frame in individual square frame and flow chart and/or block diagram, can be by computer-readable program instructions
Realize.
These computer-readable program instructions can be supplied to general purpose computer, special-purpose computer or other can
The processor of programming data processing means, thus produce a kind of machine so that these instructions are by meter
When the processor of calculation machine or other programmable data processing means performs, create flowchart and/or frame
The device of the function/action of regulation in one or more square frames in figure.Can also be these computer-readables
Programmed instruction stores in a computer-readable storage medium, and these instructions make computer, programmable data
Processing means and/or other equipment work in a specific way, thus, storage has the computer-readable of instruction to be situated between
Matter then includes a manufacture, and it includes advising in the one or more square frames in flowchart and/or block diagram
The instruction of the various aspects of fixed function/action.
Can also computer-readable program instructions be loaded into computer, other programmable data processing means,
Or on miscellaneous equipment so that perform on computer, other programmable data processing means or miscellaneous equipment
Sequence of operations step, to produce computer implemented process, so that at computer, other can compile
On journey data processing equipment or miscellaneous equipment perform instruction flowchart and/or block diagram in one or
Function/the action of regulation in multiple square frames.
Flow chart in accompanying drawing and block diagram show the system of multiple embodiments according to the present invention, method and
Architectural framework in the cards, function and the operation of computer program.In this, flow chart or
Each square frame in block diagram can represent a module, program segment or a part for instruction, described module,
A part for program segment or instruction comprise one or more for realize regulation logic function perform refer to
Order.At some as in the realization replaced, the function marked in square frame can also be to be different from accompanying drawing
The order marked occurs.Such as, two continuous print square frames can essentially perform substantially in parallel, it
Sometimes can also perform in the opposite order, this is depending on involved function.It is also noted that
The combination of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart, permissible
Realize by the special hardware based system of the function or action that perform regulation, or can be with special
Hardware realizes with the combination of computer instruction.
Being described above various embodiments of the present invention, described above is exemplary, and non-exclusive
, and it is also not necessarily limited to disclosed each embodiment.Without departing from illustrated each embodiment scope and
In the case of spirit, many modifications and changes are all aobvious for those skilled in the art
And be clear to.The selection of term used herein, it is intended to explain the principle of each embodiment, reality best
Application or the technological improvement to the technology in market, or make other those of ordinary skill of the art
It is understood that each embodiment disclosed herein.
Claims (10)
1. an earthquake-capturing automatic routing system, described system includes:
Multiple wireless positioning unit, the coordinate position of the plurality of wireless positioning unit is as pickup area
Reference coordinate location, and the coordinate position of the plurality of wireless positioning unit external contact zone surround adopt
Collection region；
Main control unit, it sets up pickup area based on described reference coordinate location, and based on described collection
The running route of region design self routing unit；And
Self routing unit, it carries out self routing based on described running route,
Wherein, in main control unit is configured to the coordinate position according to self routing unit and pickup area
The coordinate position of barrier, guides described self routing unit to get around barrier.
Earthquake-capturing automatic routing system the most according to claim 1, wherein, main control unit is joined
It is set to:
The pickup area set up is built virtual rectangular mesh；
Barrier profile is configured to surround the regular contour of described barrier, described regular contour is covered
The grid node of lid is labeled as barrier node；And
When described self routing unit runs into barrier node in traveling, guide described self routing list
Unit gets around described barrier node.
Earthquake-capturing automatic routing system the most according to claim 2, wherein, guide described automatically
Routing cell gets around barrier node and includes:
Determine X-axis initial coordinate and the Y-axis initial coordinate at described self routing unit place, and make described
Self routing unit moves along X-axis direction of advance, and wherein X-axis is perpendicular to Y-axis；
When the next node in described X-axis direction of advance is barrier node, make described self routing list
Unit changes into moving along Y-axis first direction, until in the described X-axis direction of advance of described self routing unit
Next node be not barrier node, then make described self routing unit change into along X-axis direction of advance move
Dynamic；
After described self routing unit changes into moving along X-axis direction of advance, when described self routing unit
Y-axis second direction on next node when not being barrier node, make described self routing unit change into
Move along Y-axis second direction, until the Y-axis coordinate of described self routing unit returns at the beginning of described Y-axis
Beginning coordinate；
After the Y-axis coordinate of described self routing unit returns to described Y-axis initial coordinate, make described automatically
Routing cell changes into moving along X-axis direction of advance.
Earthquake-capturing automatic routing system the most according to claim 1, wherein, passes through satellite fix
Technology realizes the location of the coordinate position to the plurality of wireless positioning unit.
Earthquake-capturing automatic routing system the most according to claim 1, wherein, in pickup area
Increase one or more wireless positioning unit and carry out enhancing signal.
6. an earthquake-capturing automatic wiring method, said method comprising the steps of:
Receive the coordinate position reference coordinate location as pickup area of multiple wireless positioning unit, and
The external contact zone of the coordinate position of the plurality of wireless positioning unit surrounds pickup area；
Pickup area is set up based on described reference coordinate location, and automatic based on the design of described pickup area
The running route of routing cell；
Control self routing unit based on described running route and carry out self routing；And
The coordinate position of the barrier in coordinate position according to self routing unit and pickup area, guides
Described self routing unit gets around barrier.
Earthquake-capturing automatic wiring method the most according to claim 6, wherein, described method enters one
Step includes:
The pickup area set up is built virtual rectangular mesh；
Barrier profile is configured to surround the regular contour of described barrier, described regular contour is covered
The grid node of lid is labeled as barrier node；And
When described self routing unit runs into barrier node in traveling, guide described self routing list
Unit gets around described barrier node.
Earthquake-capturing automatic wiring method the most according to claim 7, wherein, guide described automatically
Routing cell gets around barrier node and includes:
Determine X-axis initial coordinate and the Y-axis initial coordinate at described self routing unit place, and make described
Self routing unit moves along X-axis direction of advance, and wherein X-axis is perpendicular to Y-axis；
When the next node in described X-axis direction of advance is barrier node, make described self routing list
Unit changes into moving along Y-axis first direction, until in the described X-axis direction of advance of described self routing unit
Next node be not barrier node, then make described self routing unit change into along X-axis direction of advance move
Dynamic；
After described self routing unit changes into moving along X-axis direction of advance, when described self routing unit
Y-axis second direction on next node when not being barrier node, make described self routing unit change into
Move along Y-axis second direction, until the Y-axis coordinate of described self routing unit returns at the beginning of described Y-axis
Beginning coordinate；
After the Y-axis coordinate of described self routing unit returns to described Y-axis initial coordinate, make described automatically
Routing cell changes into moving along X-axis direction of advance.
Earthquake-capturing automatic wiring method the most according to claim 6, wherein, passes through satellite fix
Technology realizes the location of the coordinate position to the plurality of wireless positioning unit.
Earthquake-capturing automatic wiring method the most according to claim 6, wherein, in pickup area
The one or more wireless positioning unit of interior increase carrys out enhancing signal.
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| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
| CN106772568A (en) * | 2017-01-22 | 2017-05-31 | 中国石油天然气集团公司 | Obtain method, device, system and the flight equipment of acquisition node data |
| CN110333529A (en) * | 2019-08-06 | 2019-10-15 | 深圳面元智能科技有限公司 | Earthquake data acquisition and Transmission system |
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